Inverse kinematics of a redundant robot type scorbot – ER Vplus: influence of performance indices
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Universidad Santo Tomás. Seccional Bucaramanga
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En este trabajo se realiza la cinemática inversa de un robot redundante tipo Scorbot-ER VPlus, al que se le ha añadido un grado de libertad adicional, consistente en una base deslizante. Para la solución del problema cinemático inverso se aplica un proceso iterativo de evaluación del desempeño del manipulador en diferentes configuraciones. Se selecciona una coordenada de nodo como variable en el proceso y fijando su valor, se determinan las demás coordenadas a partir del modelo cinemático inverso del manipulador original. Para esta configuración se evalúan diversos índices de desempeño aplicados a sistemas robóticos y se analiza el costo computacional de su inclusión en la solución del problema cinemático inverso. Posteriormente se varía la coordenada seleccionada y se repite el proceso. De esta manera es posible evaluar para qué índices de desempeño se logran menores tiempos de resolución, buscando su aplicación e inclusión dentro del control cinemático del robot redundante.
In this paper the inverse kinematics of a redundant Scorbot-ER VPlus type robot with an additional degree of freedom, represented by a sliding platform, is performed. For the solution of the inverse kinematic problem it is developed an iterative process that evaluates the performance of the manipulator in different configurations. A joint coordinate is selected as a variable in the iterative process and setting its value, the other coordinates are determined from the inverse kinematic model of the original manipulator. For this configuration different performance indices applied to robotic systems are evaluated and the computational cost of their inclusion in the solution of the inverse kinematic problem is analyzed. Subsequently the selected coordinate is varied and the process is repeated. In this way it is possible to assess the performance indices leading to lower resolution times, seeking their application and inclusion in the kinematic control of redundant robot.
In this paper the inverse kinematics of a redundant Scorbot-ER VPlus type robot with an additional degree of freedom, represented by a sliding platform, is performed. For the solution of the inverse kinematic problem it is developed an iterative process that evaluates the performance of the manipulator in different configurations. A joint coordinate is selected as a variable in the iterative process and setting its value, the other coordinates are determined from the inverse kinematic model of the original manipulator. For this configuration different performance indices applied to robotic systems are evaluated and the computational cost of their inclusion in the solution of the inverse kinematic problem is analyzed. Subsequently the selected coordinate is varied and the process is repeated. In this way it is possible to assess the performance indices leading to lower resolution times, seeking their application and inclusion in the kinematic control of redundant robot.
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Índice de desempeño, manipulabilidad, matriz jacobiana, redundancia cinemática, robot., Performance indexes, manipulability, Jacobian matrix, kinematic redundancy, robot.
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